Is there a direct analogue to [transformPointCloud](http://docs.ros.org/indigo/api/pcl_ros/html/namespacepcl__ros.html#a29cf585a248dc53517834f4c5a1c4d69) that doesn't use PCL but has the same form? i.e.
`transformPointCloud(frame, pointcloud2, pointcloud2b, tf)`
I am aware of the [doTransform](https://github.com/ros/geometry_experimental/blob/indigo-devel/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h#L59) function in tf2_sensor_msgs but it is not quite the same.
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